@wandelbots/wandelbots-js-react-components 5.4.2 → 5.5.0

package/dist/components/jogging/JoggingStore.cjs

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+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const I=require("@wandelbots/nova-js"),m=require("@wandelbots/nova-js/v2"),u=require("lodash-es"),d=require("lodash-es/keyBy"),S=require("lodash-es/uniqueId"),y=require("mobx"),l=[{id:"0.1",mm:.1,degrees:.05},{id:"1",mm:1,degrees:.5},{id:"5",mm:5,degrees:2.5},{id:"10",mm:10,degrees:5}],p=[{id:"continuous"},...l],T=["coordsys","tool"];class a{constructor(e,t,s,i,n){var r,c,o,h;this.jogger=e,this.coordSystems=t,this.motionGroupDescription=s,this.tcps=i,this.inverseSolverValue=n,this.selectedTabId="cartesian",this.locks=new Set,this.blocked=!1,this.selectedCoordSystemId="world",this.selectedTcpId="",this.selectedOrientation="coordsys",this.selectedIncrementId="continuous",this.selectedCartesianMotionType="translate",this.incrementJogInProgress=null,this.translationVelocityMmPerSec=10,this.rotationVelocityDegPerSec=1,this.minTranslationVelocityMmPerSec=5,this.maxTranslationVelocityMmPerSec=250,this.minRotationVelocityDegPerSec=1,this.maxRotationVelocityDegPerSec=60,this.showCoordSystemSelect=!1,this.showTcpSelect=!0,this.showOrientationSelect=!0,this.showIncrementSelect=!0,this.showTabIcons=!1,this.showVelocitySliderLabel=!0,this.showVelocityLegend=!1,this.showJointsLegend=!1,this.disposers=[],this.inverseSolver=void 0,this.jointType=m.JointTypeEnum.RevoluteJoint;for(const g of t)if(g.coordinate_system===""){g.coordinate_system="world";break}this.selectedCoordSystemId=((r=t[0])==null?void 0:r.coordinate_system)||"world",this.selectedTcpId=((c=i[0])==null?void 0:c.id)||"",this.inverseSolver=n,this.jointType=((h=(o=s==null?void 0:s.dh_parameters)==null?void 0:o[0])==null?void 0:h.type)??m.JointTypeEnum.RevoluteJoint,y.makeAutoObservable(this,{},{autoBind:!0}),this.jogger.onBlocked=()=>{this.block()},this.loadFromLocalStorage(),this.disposers.push(y.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(e){const{nova:t}=e,[s,i]=await Promise.all([t.api.controller.listCoordinateSystems(e.motionStream.controllerId,"ROTATION_VECTOR"),t.api.motionGroup.getMotionGroupDescription(e.motionStream.controllerId,e.motionGroupId)]),n=await t.api.motionGroupModels.getMotionGroupKinematicModel(i.motion_group_model),r=Object.entries(i.tcps||{}).map(([c,o])=>({id:c,readable_name:o.name,position:o.pose.position,orientation:o.pose.orientation}));return new a(e,s||[],i,r,n.inverse_solver)}dispose(){for(const e of this.disposers)e();this.jogger.dispose()}get coordSystemCountByName(){return u.countBy(this.coordSystems,e=>e.name)}async deactivate(){if(this.jogger.mode==="jogging")return this.jogger.stop()}async activate(){return this.currentTab.id==="cartesian"?((this.jogger.tcp!==this.selectedTcpId||this.jogger.orientation!==this.selectedOrientation)&&this.jogger.setOptions({tcp:this.selectedTcpId,orientation:this.selectedOrientation}),this.activeDiscreteIncrement?this.jogger.setJoggingMode("trajectory"):this.jogger.setJoggingMode("jogging")):this.jogger.setJoggingMode("jogging"),this.jogger}loadFromLocalStorage(){const e=I.tryParseJson(localStorage.getItem("joggingToolStore"));e&&(this.tabsById[e.selectedTabId]&&(this.selectedTabId=e.selectedTabId),this.coordSystemsById[e.selectedCoordSystemId]&&(this.selectedCoordSystemId=e.selectedCoordSystemId),this.tcpsById[e.selectedTcpId]&&(this.selectedTcpId=e.selectedTcpId),this.incrementOptionsById[e.selectedIncrementId]&&(this.selectedIncrementId=e.selectedIncrementId),["translate","rotate"].includes(e.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=e.selectedCartesianMotionType),["coordsys","tool"].includes(e.selectedOrientation)&&(this.selectedOrientation=e.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get localStorageSave(){return{selectedTabId:this.selectedTabId,selectedCoordSystemId:this.selectedCoordSystemId,selectedTcpId:this.selectedTcpId,selectedOrientation:this.selectedOrientation,selectedIncrementId:this.selectedIncrementId,selectedCartesianMotionType:this.selectedCartesianMotionType}}get tabs(){const e=[{id:"joint",label:"Joints"}];return this.inverseSolver!==null&&e.unshift({id:"cartesian",label:"Cartesian"}),e}get incrementOptions(){return p}get discreteIncrementOptions(){return l}get incrementOptionsById(){return d(this.incrementOptions,e=>e.id)}get tabsById(){return d(this.tabs,e=>e.id)}get currentTab(){return this.tabsById[this.selectedTabId]||this.tabs[0]}get tabIndex(){return this.tabs.indexOf(this.currentTab)}get coordSystemsById(){return d(this.coordSystems,e=>e.coordinate_system)}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return d(this.tcps,e=>e.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:l.find(e=>e.id===this.selectedIncrementId)}get rotationVelocityRadsPerSec(){return this.rotationVelocityDegPerSec*Math.PI/180}velocityInDisplayUnits(e){return e?this.rotationVelocityDegPerSec:this.translationVelocityMmPerSec}minVelocityInDisplayUnits(e){return e?this.minRotationVelocityDegPerSec:this.minTranslationVelocityMmPerSec}maxVelocityInDisplayUnits(e){return e?this.maxRotationVelocityDegPerSec:this.maxTranslationVelocityMmPerSec}onTabChange(e,t){const s=this.tabs[t]||this.tabs[0];this.selectedTabId=s.id}setSelectedCoordSystemId(e){this.selectedCoordSystemId=e}setSelectedTcpId(e){this.selectedTcpId=e}setSelectedOrientation(e){this.selectedOrientation=e}setSelectedIncrementId(e){this.selectedIncrementId=e}setCurrentIncrementJog(e){this.incrementJogInProgress=e}setVelocityFromSlider(e,t){t?this.rotationVelocityDegPerSec=e:this.translationVelocityMmPerSec=e}setSelectedCartesianMotionType(e){this.selectedCartesianMotionType=e}lock(e){this.locks.add(e)}unlock(e){this.locks.delete(e)}block(){this.blocked=!0}unblock(){this.blocked=!1,this.jogger.mode==="jogging"&&this.jogger.initializeJoggingWebsocket()}async withMotionLock(e){const t=S();this.lock(t);try{return await e()}finally{this.unlock(t)}}}exports.JoggingStore=a;exports.ORIENTATION_IDS=T;exports.default=a;
+//# sourceMappingURL=JoggingStore.cjs.map

package/dist/components/jogging/JoggingStore.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"JoggingStore.cjs","sources":["../../../src/components/jogging/JoggingStore.ts"],"sourcesContent":["import { tryParseJson } from \"@wandelbots/nova-js\"\nimport {\n  JointTypeEnum,\n  type CoordinateSystem,\n  type KinematicModel,\n  type MotionGroupDescription,\n  type RobotTcp,\n} from \"@wandelbots/nova-js/v2\"\nimport { countBy } from \"lodash-es\"\nimport keyBy from \"lodash-es/keyBy\"\nimport uniqueId from \"lodash-es/uniqueId\"\nimport { autorun, makeAutoObservable, type IReactionDisposer } from \"mobx\"\nimport type {\n  JoggerConnection,\n  JoggerOrientation,\n  Vector3Simple,\n} from \"../../lib/JoggerConnection\"\n\nconst discreteIncrementOptions = [\n  { id: \"0.1\", mm: 0.1, degrees: 0.05 },\n  { id: \"1\", mm: 1, degrees: 0.5 },\n  { id: \"5\", mm: 5, degrees: 2.5 },\n  { id: \"10\", mm: 10, degrees: 5 },\n]\n\nconst incrementOptions = [\n  { id: \"continuous\" },\n  ...discreteIncrementOptions,\n] as const\n\nexport type JoggingAxis = \"x\" | \"y\" | \"z\"\nexport type JoggingDirection = \"+\" | \"-\"\nexport type DiscreteIncrementOption = (typeof discreteIncrementOptions)[number]\nexport type IncrementOption = (typeof incrementOptions)[number]\nexport type IncrementOptionId = IncrementOption[\"id\"]\n\nexport const ORIENTATION_IDS = [\"coordsys\", \"tool\"]\nexport type OrientationId = (typeof ORIENTATION_IDS)[number]\n\nexport type IncrementJogInProgress = {\n  direction: JoggingDirection\n  axis: JoggingAxis\n}\n\ntype TabType = \"cartesian\" | \"joint\" | \"debug\"\nexport type CartesianMotionType = \"translate\" | \"rotate\"\n\nexport class JoggingStore {\n  selectedTabId: TabType = \"cartesian\"\n\n  /** Locks to prevent UI interactions during certain operations */\n  locks = new Set<string>()\n\n  /** Block jogging UI interactions when connection is taken by another jogger */\n  blocked: boolean = false\n\n  /**\n   * Id of selected coordinate system from among those defined on the API side\n   */\n  selectedCoordSystemId: string = \"world\"\n\n  /** Id of selected tool center point from among the options available on the robot */\n  selectedTcpId: string = \"\"\n\n  /**\n   * Whether the user is jogging in the coordinate system or tool orientation.\n   * When in tool orientation, the robot moves in a direction relative to the\n   * attached tool rotation.\n   */\n  selectedOrientation: OrientationId = \"coordsys\"\n\n  /**\n   * Id of selected increment amount for jogging. Options are defined by robot pad.\n   * When non-continuous, jogging moves the robot by a fixed number of mm or degrees\n   * each time the button is pressed, for extra precision\n   */\n  selectedIncrementId: IncrementOptionId = \"continuous\"\n\n  /**\n   * When on the cartesian tab, jogging can be either translating or rotating\n   * around the TCP.\n   */\n  selectedCartesianMotionType: CartesianMotionType = \"translate\"\n\n  /**\n   * If the jogger is busy running an incremental jog, this will be set\n   * with the information about the motion\n   */\n  incrementJogInProgress: IncrementJogInProgress | null = null\n\n  /** How fast the robot goes when doing cartesian translate jogging in mm/s */\n  translationVelocityMmPerSec: number = 10\n  /** How fast the robot goes when doing cartesian or joint rotation jogging in °/s */\n  rotationVelocityDegPerSec: number = 1\n\n  /** Minimum translation velocity user can choose on the velocity slider in °/s */\n  minTranslationVelocityMmPerSec: number = 5\n  /** Maximum translation velocity user can choose on the velocity slider in °/s */\n  maxTranslationVelocityMmPerSec: number = 250\n\n  /** Minimum rotation velocity user can choose on the velocity slider in °/s */\n  minRotationVelocityDegPerSec: number = 1\n  /** Maximum rotation velocity user can choose on the velocity slider in °/s */\n  maxRotationVelocityDegPerSec: number = 60\n\n  /** Whether to show the coordinate system select dropdown in the UI */\n  showCoordSystemSelect: boolean = false\n\n  /** Whether to show the TCP select dropdown in the UI */\n  showTcpSelect: boolean = true\n\n  /** Whether to show the orientation select dropdown in the UI */\n  showOrientationSelect: boolean = true\n\n  /** Whether to show the increment select dropdown in the UI */\n  showIncrementSelect: boolean = true\n\n  /** Whether to show icons in the jogging tabs */\n  showTabIcons: boolean = false\n\n  /** Whether to show the label to the right of the velocity slider */\n  showVelocitySliderLabel: boolean = true\n\n  /** Whether to show the legend before the slider */\n  showVelocityLegend: boolean = false\n\n  /** Whether to show the legend before the joints */\n  showJointsLegend: boolean = false\n\n  disposers: IReactionDisposer[] = []\n\n  /**\n   * Inverse solver from the kinematic model of the motion group to determine, which tabs should be rendered\n   */\n  inverseSolver: string | null | undefined = undefined\n\n  /**\n   * Joint type to determine, whether the active robot should be displayed as Robot or Linear Axis and what tabs\n   * should be rendered by the JoggingPanel component.\n   */\n  jointType: JointTypeEnum = JointTypeEnum.RevoluteJoint\n\n  /**\n   * Load a jogging store with the relevant data it needs\n   * from the backend\n   */\n  static async loadFor(jogger: JoggerConnection) {\n    const { nova } = jogger\n\n    // Find out what TCPs this motion group has (we need it for jogging)\n    const [coordinatesystems, description] = await Promise.all([\n      // Fetch coord systems so user can select between them\n      nova.api.controller.listCoordinateSystems(\n        jogger.motionStream.controllerId,\n        \"ROTATION_VECTOR\",\n      ),\n\n      // Same for TCPs and other info from description\n      nova.api.motionGroup.getMotionGroupDescription(\n        jogger.motionStream.controllerId,\n        jogger.motionGroupId,\n      ),\n    ])\n\n    const kinematicModel: KinematicModel =\n      await nova.api.motionGroupModels.getMotionGroupKinematicModel(\n        description.motion_group_model,\n      )\n\n    const tcps = Object.entries(description.tcps || {}).map(([id, tcp]) => ({\n      id,\n      readable_name: tcp.name,\n      position: tcp.pose.position as Vector3Simple,\n      orientation: tcp.pose.orientation as Vector3Simple,\n    }))\n\n    return new JoggingStore(\n      jogger,\n      coordinatesystems || [],\n      description,\n      tcps,\n      kinematicModel.inverse_solver,\n    )\n  }\n\n  constructor(\n    readonly jogger: JoggerConnection,\n    readonly coordSystems: CoordinateSystem[],\n    readonly motionGroupDescription: MotionGroupDescription,\n    readonly tcps: RobotTcp[],\n    readonly inverseSolverValue: string | null | undefined,\n  ) {\n    // TODO workaround for default coord system on backend having a canonical id\n    // of empty string. Can remove when fixed on API side\n    for (const cs of coordSystems) {\n      if (cs.coordinate_system === \"\") {\n        cs.coordinate_system = \"world\"\n        break\n      }\n    }\n    this.selectedCoordSystemId = coordSystems[0]?.coordinate_system || \"world\"\n    this.selectedTcpId = tcps[0]?.id || \"\"\n    this.inverseSolver = inverseSolverValue\n    this.jointType =\n      motionGroupDescription?.dh_parameters?.[0]?.type ??\n      JointTypeEnum.RevoluteJoint\n\n    // Make all properties observable and actions auto-bound\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    // Register blocked watching\n    this.jogger.onBlocked = () => {\n      this.block()\n    }\n\n    // Load user settings from local storage if available\n    this.loadFromLocalStorage()\n\n    // Automatically save user settings to local storage when save changes\n    this.disposers.push(autorun(() => this.saveToLocalStorage()))\n\n    // Assign joggingStore to window\n    // biome-ignore lint/suspicious/noExplicitAny: pre-biome code\n    ;(window as any).joggingStore = this\n  }\n\n  dispose() {\n    for (const dispose of this.disposers) {\n      dispose()\n    }\n    this.jogger.dispose()\n  }\n\n  get coordSystemCountByName() {\n    return countBy(this.coordSystems, (cs) => cs.name)\n  }\n\n  async deactivate() {\n    if (this.jogger.mode === \"jogging\") {\n      return this.jogger.stop()\n    }\n  }\n\n  /** Activate the jogger with current settings */\n  async activate() {\n    if (this.currentTab.id === \"cartesian\") {\n      if (\n        this.jogger.tcp !== this.selectedTcpId ||\n        this.jogger.orientation !== this.selectedOrientation\n      ) {\n        this.jogger.setOptions({\n          tcp: this.selectedTcpId,\n          orientation: this.selectedOrientation as JoggerOrientation,\n        })\n      }\n\n      if (this.activeDiscreteIncrement) {\n        this.jogger.setJoggingMode(\"trajectory\")\n      } else {\n        this.jogger.setJoggingMode(\"jogging\")\n      }\n    } else {\n      this.jogger.setJoggingMode(\"jogging\")\n    }\n\n    return this.jogger\n  }\n\n  loadFromLocalStorage() {\n    const save = tryParseJson(localStorage.getItem(\"joggingToolStore\"))\n    if (!save) return\n\n    if (this.tabsById[save.selectedTabId]) {\n      this.selectedTabId = save.selectedTabId\n    }\n\n    if (this.coordSystemsById[save.selectedCoordSystemId]) {\n      this.selectedCoordSystemId = save.selectedCoordSystemId\n    }\n\n    if (this.tcpsById[save.selectedTcpId]) {\n      this.selectedTcpId = save.selectedTcpId\n    }\n\n    if (this.incrementOptionsById[save.selectedIncrementId]) {\n      this.selectedIncrementId = save.selectedIncrementId\n    }\n\n    if ([\"translate\", \"rotate\"].includes(save.selectedCartesianMotionType)) {\n      this.selectedCartesianMotionType = save.selectedCartesianMotionType\n    }\n\n    if ([\"coordsys\", \"tool\"].includes(save.selectedOrientation)) {\n      this.selectedOrientation = save.selectedOrientation\n    }\n  }\n\n  saveToLocalStorage() {\n    localStorage.setItem(\n      \"joggingToolStore\",\n      JSON.stringify(this.localStorageSave),\n    )\n  }\n\n  get isLocked() {\n    return this.locks.size > 0\n  }\n\n  get localStorageSave() {\n    return {\n      selectedTabId: this.selectedTabId,\n      selectedCoordSystemId: this.selectedCoordSystemId,\n      selectedTcpId: this.selectedTcpId,\n      selectedOrientation: this.selectedOrientation,\n      selectedIncrementId: this.selectedIncrementId,\n      selectedCartesianMotionType: this.selectedCartesianMotionType,\n    }\n  }\n\n  get tabs() {\n    const tempTabs: { id: TabType; label: string }[] = [\n      {\n        id: \"joint\",\n        label: \"Joints\",\n      },\n    ]\n    // show the cartesian tab only : 1. when there is a solver or 2. when no solver could be loaded ( as a default )\n    // do not show the cartesian tab when the solver is null this means, it cannot get jogged cartesian\n    if (this.inverseSolver !== null) {\n      tempTabs.unshift({\n        id: \"cartesian\",\n        label: \"Cartesian\",\n      })\n    }\n\n    return tempTabs\n  }\n\n  get incrementOptions() {\n    return incrementOptions\n  }\n\n  get discreteIncrementOptions() {\n    return discreteIncrementOptions\n  }\n\n  get incrementOptionsById() {\n    return keyBy(this.incrementOptions, (o) => o.id)\n  }\n\n  get tabsById() {\n    return keyBy(this.tabs, (t) => t.id)\n  }\n\n  get currentTab() {\n    // biome-ignore lint/style/noNonNullAssertion: pre-biome code\n    return this.tabsById[this.selectedTabId] || this.tabs[0]!\n  }\n\n  get tabIndex() {\n    return this.tabs.indexOf(this.currentTab)\n  }\n\n  get coordSystemsById() {\n    return keyBy(this.coordSystems, (cs) => cs.coordinate_system)\n  }\n\n  /**\n   * The id of the coordinate system to use for jogging.\n   * If in tool orientation, this is set to \"tool\", not the\n   * selected coordinate system.\n   */\n  get activeCoordSystemId() {\n    return this.selectedOrientation === \"tool\"\n      ? \"tool\"\n      : this.selectedCoordSystemId\n  }\n\n  get tcpsById() {\n    return keyBy(this.tcps, (tcp) => tcp.id)\n  }\n\n  get activeDiscreteIncrement() {\n    return this.selectedOrientation === \"tool\"\n      ? undefined\n      : discreteIncrementOptions.find((d) => d.id === this.selectedIncrementId)\n  }\n\n  /** The selected rotation velocity converted to radians per second */\n  get rotationVelocityRadsPerSec() {\n    return (this.rotationVelocityDegPerSec * Math.PI) / 180\n  }\n\n  /** Selected velocity in mm/sec or deg/sec */\n  velocityInDisplayUnits(useDegree: boolean) {\n    return useDegree\n      ? this.rotationVelocityDegPerSec\n      : this.translationVelocityMmPerSec\n  }\n\n  /** Minimum selectable velocity in mm/sec or deg/sec */\n  minVelocityInDisplayUnits(useDegree: boolean) {\n    return useDegree\n      ? this.minRotationVelocityDegPerSec\n      : this.minTranslationVelocityMmPerSec\n  }\n\n  /** Maximum selectable velocity in mm/sec or deg/sec */\n  maxVelocityInDisplayUnits(useDegree: boolean) {\n    return useDegree\n      ? this.maxRotationVelocityDegPerSec\n      : this.maxTranslationVelocityMmPerSec\n  }\n\n  onTabChange(_event: React.SyntheticEvent, newValue: number) {\n    // biome-ignore lint/style/noNonNullAssertion: pre-biome code\n    const tab = this.tabs[newValue] || this.tabs[0]!\n    this.selectedTabId = tab.id\n  }\n\n  setSelectedCoordSystemId(id: string) {\n    this.selectedCoordSystemId = id\n  }\n\n  setSelectedTcpId(id: string) {\n    this.selectedTcpId = id\n  }\n\n  setSelectedOrientation(orientation: OrientationId) {\n    this.selectedOrientation = orientation\n  }\n\n  setSelectedIncrementId(id: IncrementOptionId) {\n    this.selectedIncrementId = id\n  }\n\n  setCurrentIncrementJog(incrementJog: IncrementJogInProgress | null) {\n    this.incrementJogInProgress = incrementJog\n  }\n\n  setVelocityFromSlider(velocity: number, useDegree: boolean) {\n    if (useDegree) {\n      this.rotationVelocityDegPerSec = velocity\n    } else {\n      this.translationVelocityMmPerSec = velocity\n    }\n  }\n\n  setSelectedCartesianMotionType(type: CartesianMotionType) {\n    this.selectedCartesianMotionType = type\n  }\n\n  lock(id: string) {\n    this.locks.add(id)\n  }\n\n  unlock(id: string) {\n    this.locks.delete(id)\n  }\n\n  block() {\n    this.blocked = true\n  }\n\n  unblock() {\n    this.blocked = false\n    if (this.jogger.mode === \"jogging\") {\n      this.jogger.initializeJoggingWebsocket()\n    }\n  }\n\n  /** Lock the UI until the given async callback resolves */\n  async withMotionLock(fn: () => Promise<void>) {\n    const lockId = uniqueId()\n    this.lock(lockId)\n\n    try {\n      return await fn()\n    } finally {\n      this.unlock(lockId)\n    }\n  }\n}\n\nexport default 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package/dist/components/jogging/JoggingStore.d.ts

@@ -193,5 +193,5 @@ export declare class JoggingStore {
     /** Lock the UI until the given async callback resolves */
     withMotionLock(fn: () => Promise<void>): Promise<void>;
 }
-export {};
+export default JoggingStore;
 //# sourceMappingURL=JoggingStore.d.ts.map

package/dist/components/jogging/JoggingStore.d.ts.map

@@ -1 +1 @@
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package/dist/components/jogging/JoggingStore.js

@@ -0,0 +1,219 @@
+import { tryParseJson as y } from "@wandelbots/nova-js";
+import { JointTypeEnum as m } from "@wandelbots/nova-js/v2";
+import { countBy as I } from "lodash-es";
+import d from "lodash-es/keyBy";
+import p from "lodash-es/uniqueId";
+import { makeAutoObservable as S, autorun as u } from "mobx";
+const a = [
+  { id: "0.1", mm: 0.1, degrees: 0.05 },
+  { id: "1", mm: 1, degrees: 0.5 },
+  { id: "5", mm: 5, degrees: 2.5 },
+  { id: "10", mm: 10, degrees: 5 }
+], T = [
+  { id: "continuous" },
+  ...a
+], k = ["coordsys", "tool"];
+class g {
+  constructor(e, t, s, i, n) {
+    var r, c, o, l;
+    this.jogger = e, this.coordSystems = t, this.motionGroupDescription = s, this.tcps = i, this.inverseSolverValue = n, this.selectedTabId = "cartesian", this.locks = /* @__PURE__ */ new Set(), this.blocked = !1, this.selectedCoordSystemId = "world", this.selectedTcpId = "", this.selectedOrientation = "coordsys", this.selectedIncrementId = "continuous", this.selectedCartesianMotionType = "translate", this.incrementJogInProgress = null, this.translationVelocityMmPerSec = 10, this.rotationVelocityDegPerSec = 1, this.minTranslationVelocityMmPerSec = 5, this.maxTranslationVelocityMmPerSec = 250, this.minRotationVelocityDegPerSec = 1, this.maxRotationVelocityDegPerSec = 60, this.showCoordSystemSelect = !1, this.showTcpSelect = !0, this.showOrientationSelect = !0, this.showIncrementSelect = !0, this.showTabIcons = !1, this.showVelocitySliderLabel = !0, this.showVelocityLegend = !1, this.showJointsLegend = !1, this.disposers = [], this.inverseSolver = void 0, this.jointType = m.RevoluteJoint;
+    for (const h of t)
+      if (h.coordinate_system === "") {
+        h.coordinate_system = "world";
+        break;
+      }
+    this.selectedCoordSystemId = ((r = t[0]) == null ? void 0 : r.coordinate_system) || "world", this.selectedTcpId = ((c = i[0]) == null ? void 0 : c.id) || "", this.inverseSolver = n, this.jointType = ((l = (o = s == null ? void 0 : s.dh_parameters) == null ? void 0 : o[0]) == null ? void 0 : l.type) ?? m.RevoluteJoint, S(this, {}, { autoBind: !0 }), this.jogger.onBlocked = () => {
+      this.block();
+    }, this.loadFromLocalStorage(), this.disposers.push(u(() => this.saveToLocalStorage())), window.joggingStore = this;
+  }
+  /**
+   * Load a jogging store with the relevant data it needs
+   * from the backend
+   */
+  static async loadFor(e) {
+    const { nova: t } = e, [s, i] = await Promise.all([
+      // Fetch coord systems so user can select between them
+      t.api.controller.listCoordinateSystems(
+        e.motionStream.controllerId,
+        "ROTATION_VECTOR"
+      ),
+      // Same for TCPs and other info from description
+      t.api.motionGroup.getMotionGroupDescription(
+        e.motionStream.controllerId,
+        e.motionGroupId
+      )
+    ]), n = await t.api.motionGroupModels.getMotionGroupKinematicModel(
+      i.motion_group_model
+    ), r = Object.entries(i.tcps || {}).map(([c, o]) => ({
+      id: c,
+      readable_name: o.name,
+      position: o.pose.position,
+      orientation: o.pose.orientation
+    }));
+    return new g(
+      e,
+      s || [],
+      i,
+      r,
+      n.inverse_solver
+    );
+  }
+  dispose() {
+    for (const e of this.disposers)
+      e();
+    this.jogger.dispose();
+  }
+  get coordSystemCountByName() {
+    return I(this.coordSystems, (e) => e.name);
+  }
+  async deactivate() {
+    if (this.jogger.mode === "jogging")
+      return this.jogger.stop();
+  }
+  /** Activate the jogger with current settings */
+  async activate() {
+    return this.currentTab.id === "cartesian" ? ((this.jogger.tcp !== this.selectedTcpId || this.jogger.orientation !== this.selectedOrientation) && this.jogger.setOptions({
+      tcp: this.selectedTcpId,
+      orientation: this.selectedOrientation
+    }), this.activeDiscreteIncrement ? this.jogger.setJoggingMode("trajectory") : this.jogger.setJoggingMode("jogging")) : this.jogger.setJoggingMode("jogging"), this.jogger;
+  }
+  loadFromLocalStorage() {
+    const e = y(localStorage.getItem("joggingToolStore"));
+    e && (this.tabsById[e.selectedTabId] && (this.selectedTabId = e.selectedTabId), this.coordSystemsById[e.selectedCoordSystemId] && (this.selectedCoordSystemId = e.selectedCoordSystemId), this.tcpsById[e.selectedTcpId] && (this.selectedTcpId = e.selectedTcpId), this.incrementOptionsById[e.selectedIncrementId] && (this.selectedIncrementId = e.selectedIncrementId), ["translate", "rotate"].includes(e.selectedCartesianMotionType) && (this.selectedCartesianMotionType = e.selectedCartesianMotionType), ["coordsys", "tool"].includes(e.selectedOrientation) && (this.selectedOrientation = e.selectedOrientation));
+  }
+  saveToLocalStorage() {
+    localStorage.setItem(
+      "joggingToolStore",
+      JSON.stringify(this.localStorageSave)
+    );
+  }
+  get isLocked() {
+    return this.locks.size > 0;
+  }
+  get localStorageSave() {
+    return {
+      selectedTabId: this.selectedTabId,
+      selectedCoordSystemId: this.selectedCoordSystemId,
+      selectedTcpId: this.selectedTcpId,
+      selectedOrientation: this.selectedOrientation,
+      selectedIncrementId: this.selectedIncrementId,
+      selectedCartesianMotionType: this.selectedCartesianMotionType
+    };
+  }
+  get tabs() {
+    const e = [
+      {
+        id: "joint",
+        label: "Joints"
+      }
+    ];
+    return this.inverseSolver !== null && e.unshift({
+      id: "cartesian",
+      label: "Cartesian"
+    }), e;
+  }
+  get incrementOptions() {
+    return T;
+  }
+  get discreteIncrementOptions() {
+    return a;
+  }
+  get incrementOptionsById() {
+    return d(this.incrementOptions, (e) => e.id);
+  }
+  get tabsById() {
+    return d(this.tabs, (e) => e.id);
+  }
+  get currentTab() {
+    return this.tabsById[this.selectedTabId] || this.tabs[0];
+  }
+  get tabIndex() {
+    return this.tabs.indexOf(this.currentTab);
+  }
+  get coordSystemsById() {
+    return d(this.coordSystems, (e) => e.coordinate_system);
+  }
+  /**
+   * The id of the coordinate system to use for jogging.
+   * If in tool orientation, this is set to "tool", not the
+   * selected coordinate system.
+   */
+  get activeCoordSystemId() {
+    return this.selectedOrientation === "tool" ? "tool" : this.selectedCoordSystemId;
+  }
+  get tcpsById() {
+    return d(this.tcps, (e) => e.id);
+  }
+  get activeDiscreteIncrement() {
+    return this.selectedOrientation === "tool" ? void 0 : a.find((e) => e.id === this.selectedIncrementId);
+  }
+  /** The selected rotation velocity converted to radians per second */
+  get rotationVelocityRadsPerSec() {
+    return this.rotationVelocityDegPerSec * Math.PI / 180;
+  }
+  /** Selected velocity in mm/sec or deg/sec */
+  velocityInDisplayUnits(e) {
+    return e ? this.rotationVelocityDegPerSec : this.translationVelocityMmPerSec;
+  }
+  /** Minimum selectable velocity in mm/sec or deg/sec */
+  minVelocityInDisplayUnits(e) {
+    return e ? this.minRotationVelocityDegPerSec : this.minTranslationVelocityMmPerSec;
+  }
+  /** Maximum selectable velocity in mm/sec or deg/sec */
+  maxVelocityInDisplayUnits(e) {
+    return e ? this.maxRotationVelocityDegPerSec : this.maxTranslationVelocityMmPerSec;
+  }
+  onTabChange(e, t) {
+    const s = this.tabs[t] || this.tabs[0];
+    this.selectedTabId = s.id;
+  }
+  setSelectedCoordSystemId(e) {
+    this.selectedCoordSystemId = e;
+  }
+  setSelectedTcpId(e) {
+    this.selectedTcpId = e;
+  }
+  setSelectedOrientation(e) {
+    this.selectedOrientation = e;
+  }
+  setSelectedIncrementId(e) {
+    this.selectedIncrementId = e;
+  }
+  setCurrentIncrementJog(e) {
+    this.incrementJogInProgress = e;
+  }
+  setVelocityFromSlider(e, t) {
+    t ? this.rotationVelocityDegPerSec = e : this.translationVelocityMmPerSec = e;
+  }
+  setSelectedCartesianMotionType(e) {
+    this.selectedCartesianMotionType = e;
+  }
+  lock(e) {
+    this.locks.add(e);
+  }
+  unlock(e) {
+    this.locks.delete(e);
+  }
+  block() {
+    this.blocked = !0;
+  }
+  unblock() {
+    this.blocked = !1, this.jogger.mode === "jogging" && this.jogger.initializeJoggingWebsocket();
+  }
+  /** Lock the UI until the given async callback resolves */
+  async withMotionLock(e) {
+    const t = p();
+    this.lock(t);
+    try {
+      return await e();
+    } finally {
+      this.unlock(t);
+    }
+  }
+}
+export {
+  g as JoggingStore,
+  k as ORIENTATION_IDS,
+  g as default
+};
+//# sourceMappingURL=JoggingStore.js.map

package/dist/components/jogging/JoggingStore.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"JoggingStore.js","sources":["../../../src/components/jogging/JoggingStore.ts"],"sourcesContent":["import { tryParseJson } from \"@wandelbots/nova-js\"\nimport {\n  JointTypeEnum,\n  type CoordinateSystem,\n  type KinematicModel,\n  type MotionGroupDescription,\n  type RobotTcp,\n} from \"@wandelbots/nova-js/v2\"\nimport { countBy } from \"lodash-es\"\nimport keyBy from \"lodash-es/keyBy\"\nimport uniqueId from \"lodash-es/uniqueId\"\nimport { autorun, makeAutoObservable, type IReactionDisposer } from \"mobx\"\nimport type {\n  JoggerConnection,\n  JoggerOrientation,\n  Vector3Simple,\n} from \"../../lib/JoggerConnection\"\n\nconst discreteIncrementOptions = [\n  { id: \"0.1\", mm: 0.1, degrees: 0.05 },\n  { id: \"1\", mm: 1, degrees: 0.5 },\n  { id: \"5\", mm: 5, degrees: 2.5 },\n  { id: \"10\", mm: 10, degrees: 5 },\n]\n\nconst incrementOptions = [\n  { id: \"continuous\" },\n  ...discreteIncrementOptions,\n] as const\n\nexport type JoggingAxis = \"x\" | \"y\" | \"z\"\nexport type JoggingDirection = \"+\" | \"-\"\nexport type DiscreteIncrementOption = (typeof discreteIncrementOptions)[number]\nexport type IncrementOption = (typeof incrementOptions)[number]\nexport type IncrementOptionId = IncrementOption[\"id\"]\n\nexport const ORIENTATION_IDS = [\"coordsys\", \"tool\"]\nexport type OrientationId = (typeof ORIENTATION_IDS)[number]\n\nexport type IncrementJogInProgress = {\n  direction: JoggingDirection\n  axis: JoggingAxis\n}\n\ntype TabType = \"cartesian\" | \"joint\" | \"debug\"\nexport type CartesianMotionType = \"translate\" | \"rotate\"\n\nexport class JoggingStore {\n  selectedTabId: TabType = \"cartesian\"\n\n  /** Locks to prevent UI interactions during certain operations */\n  locks = new Set<string>()\n\n  /** Block jogging UI interactions when connection is taken by another jogger */\n  blocked: boolean = false\n\n  /**\n   * Id of selected coordinate system from among those defined on the API side\n   */\n  selectedCoordSystemId: string = \"world\"\n\n  /** Id of selected tool center point from among the options available on the robot */\n  selectedTcpId: string = \"\"\n\n  /**\n   * Whether the user is jogging in the coordinate system or tool orientation.\n   * When in tool orientation, the robot moves in a direction relative to the\n   * attached tool rotation.\n   */\n  selectedOrientation: OrientationId = \"coordsys\"\n\n  /**\n   * Id of selected increment amount for jogging. Options are defined by robot pad.\n   * When non-continuous, jogging moves the robot by a fixed number of mm or degrees\n   * each time the button is pressed, for extra precision\n   */\n  selectedIncrementId: IncrementOptionId = \"continuous\"\n\n  /**\n   * When on the cartesian tab, jogging can be either translating or rotating\n   * around the TCP.\n   */\n  selectedCartesianMotionType: CartesianMotionType = \"translate\"\n\n  /**\n   * If the jogger is busy running an incremental jog, this will be set\n   * with the information about the motion\n   */\n  incrementJogInProgress: IncrementJogInProgress | null = null\n\n  /** How fast the robot goes when doing cartesian translate jogging in mm/s */\n  translationVelocityMmPerSec: number = 10\n  /** How fast the robot goes when doing cartesian or joint rotation jogging in °/s */\n  rotationVelocityDegPerSec: number = 1\n\n  /** Minimum translation velocity user can choose on the velocity slider in °/s */\n  minTranslationVelocityMmPerSec: number = 5\n  /** Maximum translation velocity user can choose on the velocity slider in °/s */\n  maxTranslationVelocityMmPerSec: number = 250\n\n  /** Minimum rotation velocity user can choose on the velocity slider in °/s */\n  minRotationVelocityDegPerSec: number = 1\n  /** Maximum rotation velocity user can choose on the velocity slider in °/s */\n  maxRotationVelocityDegPerSec: number = 60\n\n  /** Whether to show the coordinate system select dropdown in the UI */\n  showCoordSystemSelect: boolean = false\n\n  /** Whether to show the TCP select dropdown in the UI */\n  showTcpSelect: boolean = true\n\n  /** Whether to show the orientation select dropdown in the UI */\n  showOrientationSelect: boolean = true\n\n  /** Whether to show the increment select dropdown in the UI */\n  showIncrementSelect: boolean = true\n\n  /** Whether to show icons in the jogging tabs */\n  showTabIcons: boolean = false\n\n  /** Whether to show the label to the right of the velocity slider */\n  showVelocitySliderLabel: boolean = true\n\n  /** Whether to show the legend before the slider */\n  showVelocityLegend: boolean = false\n\n  /** Whether to show the legend before the joints */\n  showJointsLegend: boolean = false\n\n  disposers: IReactionDisposer[] = []\n\n  /**\n   * Inverse solver from the kinematic model of the motion group to determine, which tabs should be rendered\n   */\n  inverseSolver: string | null | undefined = undefined\n\n  /**\n   * Joint type to determine, whether the active robot should be displayed as Robot or Linear Axis and what tabs\n   * should be rendered by the JoggingPanel component.\n   */\n  jointType: JointTypeEnum = JointTypeEnum.RevoluteJoint\n\n  /**\n   * Load a jogging store with the relevant data it needs\n   * from the backend\n   */\n  static async loadFor(jogger: JoggerConnection) {\n    const { nova } = jogger\n\n    // Find out what TCPs this motion group has (we need it for jogging)\n    const [coordinatesystems, description] = await Promise.all([\n      // Fetch coord systems so user can select between them\n      nova.api.controller.listCoordinateSystems(\n        jogger.motionStream.controllerId,\n        \"ROTATION_VECTOR\",\n      ),\n\n      // Same for TCPs and other info from description\n      nova.api.motionGroup.getMotionGroupDescription(\n        jogger.motionStream.controllerId,\n        jogger.motionGroupId,\n      ),\n    ])\n\n    const kinematicModel: KinematicModel =\n      await nova.api.motionGroupModels.getMotionGroupKinematicModel(\n        description.motion_group_model,\n      )\n\n    const tcps = Object.entries(description.tcps || {}).map(([id, tcp]) => ({\n      id,\n      readable_name: tcp.name,\n      position: tcp.pose.position as Vector3Simple,\n      orientation: tcp.pose.orientation as Vector3Simple,\n    }))\n\n    return new JoggingStore(\n      jogger,\n      coordinatesystems || [],\n      description,\n      tcps,\n      kinematicModel.inverse_solver,\n    )\n  }\n\n  constructor(\n    readonly jogger: JoggerConnection,\n    readonly coordSystems: CoordinateSystem[],\n    readonly motionGroupDescription: MotionGroupDescription,\n    readonly tcps: RobotTcp[],\n    readonly inverseSolverValue: string | null | undefined,\n  ) {\n    // TODO workaround for default coord system on backend having a canonical id\n    // of empty string. Can remove when fixed on API side\n    for (const cs of coordSystems) {\n      if (cs.coordinate_system === \"\") {\n        cs.coordinate_system = \"world\"\n        break\n      }\n    }\n    this.selectedCoordSystemId = coordSystems[0]?.coordinate_system || \"world\"\n    this.selectedTcpId = tcps[0]?.id || \"\"\n    this.inverseSolver = inverseSolverValue\n    this.jointType =\n      motionGroupDescription?.dh_parameters?.[0]?.type ??\n      JointTypeEnum.RevoluteJoint\n\n    // Make all properties observable and actions auto-bound\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    // Register blocked watching\n    this.jogger.onBlocked = () => {\n      this.block()\n    }\n\n    // Load user settings from local storage if available\n    this.loadFromLocalStorage()\n\n    // Automatically save user settings to local storage when save changes\n    this.disposers.push(autorun(() => this.saveToLocalStorage()))\n\n    // Assign joggingStore to window\n    // biome-ignore lint/suspicious/noExplicitAny: pre-biome code\n    ;(window as any).joggingStore = this\n  }\n\n  dispose() {\n    for (const dispose of this.disposers) {\n      dispose()\n    }\n    this.jogger.dispose()\n  }\n\n  get coordSystemCountByName() {\n    return countBy(this.coordSystems, (cs) => cs.name)\n  }\n\n  async deactivate() {\n    if (this.jogger.mode === \"jogging\") {\n      return this.jogger.stop()\n    }\n  }\n\n  /** Activate the jogger with current settings */\n  async activate() {\n    if (this.currentTab.id === \"cartesian\") {\n      if (\n        this.jogger.tcp !== this.selectedTcpId ||\n        this.jogger.orientation !== this.selectedOrientation\n      ) {\n        this.jogger.setOptions({\n          tcp: this.selectedTcpId,\n          orientation: this.selectedOrientation as JoggerOrientation,\n        })\n      }\n\n      if (this.activeDiscreteIncrement) {\n        this.jogger.setJoggingMode(\"trajectory\")\n      } else {\n        this.jogger.setJoggingMode(\"jogging\")\n      }\n    } else {\n      this.jogger.setJoggingMode(\"jogging\")\n    }\n\n    return this.jogger\n  }\n\n  loadFromLocalStorage() {\n    const save = tryParseJson(localStorage.getItem(\"joggingToolStore\"))\n    if (!save) return\n\n    if (this.tabsById[save.selectedTabId]) {\n      this.selectedTabId = save.selectedTabId\n    }\n\n    if (this.coordSystemsById[save.selectedCoordSystemId]) {\n      this.selectedCoordSystemId = save.selectedCoordSystemId\n    }\n\n    if (this.tcpsById[save.selectedTcpId]) {\n      this.selectedTcpId = save.selectedTcpId\n    }\n\n    if (this.incrementOptionsById[save.selectedIncrementId]) {\n      this.selectedIncrementId = save.selectedIncrementId\n    }\n\n    if ([\"translate\", \"rotate\"].includes(save.selectedCartesianMotionType)) {\n      this.selectedCartesianMotionType = save.selectedCartesianMotionType\n    }\n\n    if ([\"coordsys\", \"tool\"].includes(save.selectedOrientation)) {\n      this.selectedOrientation = save.selectedOrientation\n    }\n  }\n\n  saveToLocalStorage() {\n    localStorage.setItem(\n      \"joggingToolStore\",\n      JSON.stringify(this.localStorageSave),\n    )\n  }\n\n  get isLocked() {\n    return this.locks.size > 0\n  }\n\n  get localStorageSave() {\n    return {\n      selectedTabId: this.selectedTabId,\n      selectedCoordSystemId: this.selectedCoordSystemId,\n      selectedTcpId: this.selectedTcpId,\n      selectedOrientation: this.selectedOrientation,\n      selectedIncrementId: this.selectedIncrementId,\n      selectedCartesianMotionType: this.selectedCartesianMotionType,\n    }\n  }\n\n  get tabs() {\n    const tempTabs: { id: TabType; label: string }[] = [\n      {\n        id: \"joint\",\n        label: \"Joints\",\n      },\n    ]\n    // show the cartesian tab only : 1. when there is a solver or 2. when no solver could be loaded ( as a default )\n    // do not show the cartesian tab when the solver is null this means, it cannot get jogged cartesian\n    if (this.inverseSolver !== null) {\n      tempTabs.unshift({\n        id: \"cartesian\",\n        label: \"Cartesian\",\n      })\n    }\n\n    return tempTabs\n  }\n\n  get incrementOptions() {\n    return incrementOptions\n  }\n\n  get discreteIncrementOptions() {\n    return discreteIncrementOptions\n  }\n\n  get incrementOptionsById() {\n    return keyBy(this.incrementOptions, (o) => o.id)\n  }\n\n  get tabsById() {\n    return keyBy(this.tabs, (t) => t.id)\n  }\n\n  get currentTab() {\n    // biome-ignore lint/style/noNonNullAssertion: pre-biome code\n    return this.tabsById[this.selectedTabId] || this.tabs[0]!\n  }\n\n  get tabIndex() {\n    return this.tabs.indexOf(this.currentTab)\n  }\n\n  get coordSystemsById() {\n    return keyBy(this.coordSystems, (cs) => cs.coordinate_system)\n  }\n\n  /**\n   * The id of the coordinate system to use for jogging.\n   * If in tool orientation, this is set to \"tool\", not the\n   * selected coordinate system.\n   */\n  get activeCoordSystemId() {\n    return this.selectedOrientation === \"tool\"\n      ? \"tool\"\n      : this.selectedCoordSystemId\n  }\n\n  get tcpsById() {\n    return keyBy(this.tcps, (tcp) => tcp.id)\n  }\n\n  get activeDiscreteIncrement() {\n    return this.selectedOrientation === \"tool\"\n      ? undefined\n      : discreteIncrementOptions.find((d) => d.id === this.selectedIncrementId)\n  }\n\n  /** The selected rotation velocity converted to radians per second */\n  get rotationVelocityRadsPerSec() {\n    return (this.rotationVelocityDegPerSec * Math.PI) / 180\n  }\n\n  /** Selected velocity in mm/sec or deg/sec */\n  velocityInDisplayUnits(useDegree: boolean) {\n    return useDegree\n      ? this.rotationVelocityDegPerSec\n      : this.translationVelocityMmPerSec\n  }\n\n  /** Minimum selectable velocity in mm/sec or deg/sec */\n  minVelocityInDisplayUnits(useDegree: boolean) {\n    return useDegree\n      ? this.minRotationVelocityDegPerSec\n      : this.minTranslationVelocityMmPerSec\n  }\n\n  /** Maximum selectable velocity in mm/sec or deg/sec */\n  maxVelocityInDisplayUnits(useDegree: boolean) {\n    return useDegree\n      ? this.maxRotationVelocityDegPerSec\n      : this.maxTranslationVelocityMmPerSec\n  }\n\n  onTabChange(_event: React.SyntheticEvent, newValue: number) {\n    // biome-ignore lint/style/noNonNullAssertion: pre-biome code\n    const tab = this.tabs[newValue] || this.tabs[0]!\n    this.selectedTabId = tab.id\n  }\n\n  setSelectedCoordSystemId(id: string) {\n    this.selectedCoordSystemId = id\n  }\n\n  setSelectedTcpId(id: string) {\n    this.selectedTcpId = id\n  }\n\n  setSelectedOrientation(orientation: OrientationId) {\n    this.selectedOrientation = orientation\n  }\n\n  setSelectedIncrementId(id: IncrementOptionId) {\n    this.selectedIncrementId = id\n  }\n\n  setCurrentIncrementJog(incrementJog: IncrementJogInProgress | null) {\n    this.incrementJogInProgress = incrementJog\n  }\n\n  setVelocityFromSlider(velocity: number, useDegree: boolean) {\n    if (useDegree) {\n      this.rotationVelocityDegPerSec = velocity\n    } else {\n      this.translationVelocityMmPerSec = velocity\n    }\n  }\n\n  setSelectedCartesianMotionType(type: CartesianMotionType) {\n    this.selectedCartesianMotionType = type\n  }\n\n  lock(id: string) {\n    this.locks.add(id)\n  }\n\n  unlock(id: string) {\n    this.locks.delete(id)\n  }\n\n  block() {\n    this.blocked = true\n  }\n\n  unblock() {\n    this.blocked = false\n    if (this.jogger.mode === \"jogging\") {\n      this.jogger.initializeJoggingWebsocket()\n    }\n  }\n\n  /** Lock the UI until the given async callback resolves */\n  async withMotionLock(fn: () => Promise<void>) {\n    const lockId = uniqueId()\n    this.lock(lockId)\n\n    try {\n      return await fn()\n    } finally {\n      this.unlock(lockId)\n    }\n  }\n}\n\nexport default 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package/dist/components/jogging/JoggingToggleButtonGroup.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("@mui/material/styles"),r=require("@mui/material/ToggleButtonGroup"),u=e.styled(r)(({theme:t})=>{var o;return{"&.MuiToggleButtonGroup-root":{background:(o=t.palette.backgroundPaperElevation)==null?void 0:o[8],borderRadius:"8px",padding:"4px",gap:"4px",button:{border:"none",borderRadius:"4px",flex:"1 1 0px",minWidth:0,"&.MuiToggleButtonGroup-firstButton":{borderRadius:"8px 4px 4px 8px"},"&.MuiToggleButtonGroup-lastButton":{borderRadius:"4px 8px 8px 4px"}}}}});exports.JoggingToggleButtonGroup=u;
+//# sourceMappingURL=JoggingToggleButtonGroup.cjs.map

package/dist/components/jogging/JoggingToggleButtonGroup.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"JoggingToggleButtonGroup.cjs","sources":["../../../src/components/jogging/JoggingToggleButtonGroup.tsx"],"sourcesContent":["import type { ToggleButtonGroupProps } from \"@mui/material/ToggleButtonGroup\"\nimport { styled } from \"@mui/material/styles\"\nimport ToggleButtonGroup from \"@mui/material/ToggleButtonGroup\"\nexport const JoggingToggleButtonGroup: React.ComponentType<ToggleButtonGroupProps> =\n  styled(ToggleButtonGroup)(({ theme }) => ({\n    \"&.MuiToggleButtonGroup-root\": {\n      background: theme.palette.backgroundPaperElevation?.[8],\n      borderRadius: \"8px\",\n      padding: \"4px\",\n      gap: \"4px\",\n      button: {\n        border: \"none\",\n        borderRadius: \"4px\",\n        flex: \"1 1 0px\",\n        minWidth: 0,\n        \"&.MuiToggleButtonGroup-firstButton\": {\n          borderRadius: \"8px 4px 4px 8px\",\n        },\n\n        \"&.MuiToggleButtonGroup-lastButton\": {\n          borderRadius: \"4px 8px 8px 4px\",\n        },\n      },\n    },\n  }))\n"],"names":["JoggingToggleButtonGroup","styled","ToggleButtonGroup","theme","_a"],"mappings":"qKAGaA,EACXC,EAAAA,OAAOC,CAAiB,EAAE,CAAC,CAAE,MAAAC,KAAM,OAAO,OACxC,8BAA+B,CAC7B,YAAYC,EAAAD,EAAM,QAAQ,2BAAd,YAAAC,EAAyC,GACrD,aAAc,MACd,QAAS,MACT,IAAK,MACL,OAAQ,CACN,OAAQ,OACR,aAAc,MACd,KAAM,UACN,SAAU,EACV,qCAAsC,CACpC,aAAc,iBAAA,EAGhB,oCAAqC,CACnC,aAAc,iBAAA,CAChB,CACF,CAEJ,EAAE"}

package/dist/components/jogging/JoggingToggleButtonGroup.js

@@ -0,0 +1,29 @@
+import { styled as p } from "@mui/material/styles";
+import r from "@mui/material/ToggleButtonGroup";
+const g = p(r)(({ theme: t }) => {
+  var o;
+  return {
+    "&.MuiToggleButtonGroup-root": {
+      background: (o = t.palette.backgroundPaperElevation) == null ? void 0 : o[8],
+      borderRadius: "8px",
+      padding: "4px",
+      gap: "4px",
+      button: {
+        border: "none",
+        borderRadius: "4px",
+        flex: "1 1 0px",
+        minWidth: 0,
+        "&.MuiToggleButtonGroup-firstButton": {
+          borderRadius: "8px 4px 4px 8px"
+        },
+        "&.MuiToggleButtonGroup-lastButton": {
+          borderRadius: "4px 8px 8px 4px"
+        }
+      }
+    }
+  };
+});
+export {
+  g as JoggingToggleButtonGroup
+};
+//# sourceMappingURL=JoggingToggleButtonGroup.js.map

package/dist/components/jogging/JoggingToggleButtonGroup.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"JoggingToggleButtonGroup.js","sources":["../../../src/components/jogging/JoggingToggleButtonGroup.tsx"],"sourcesContent":["import type { ToggleButtonGroupProps } from \"@mui/material/ToggleButtonGroup\"\nimport { styled } from \"@mui/material/styles\"\nimport ToggleButtonGroup from \"@mui/material/ToggleButtonGroup\"\nexport const JoggingToggleButtonGroup: React.ComponentType<ToggleButtonGroupProps> =\n  styled(ToggleButtonGroup)(({ theme }) => ({\n    \"&.MuiToggleButtonGroup-root\": {\n      background: theme.palette.backgroundPaperElevation?.[8],\n      borderRadius: \"8px\",\n      padding: \"4px\",\n      gap: \"4px\",\n      button: {\n        border: \"none\",\n        borderRadius: \"4px\",\n        flex: \"1 1 0px\",\n        minWidth: 0,\n        \"&.MuiToggleButtonGroup-firstButton\": {\n          borderRadius: \"8px 4px 4px 8px\",\n        },\n\n        \"&.MuiToggleButtonGroup-lastButton\": {\n          borderRadius: \"4px 8px 8px 4px\",\n        },\n      },\n    },\n  }))\n"],"names":["JoggingToggleButtonGroup","styled","ToggleButtonGroup","theme","_a"],"mappings":";;AAGO,MAAMA,IACXC,EAAOC,CAAiB,EAAE,CAAC,EAAE,OAAAC,QAAM;;AAAO;AAAA,IACxC,+BAA+B;AAAA,MAC7B,aAAYC,IAAAD,EAAM,QAAQ,6BAAd,gBAAAC,EAAyC;AAAA,MACrD,cAAc;AAAA,MACd,SAAS;AAAA,MACT,KAAK;AAAA,MACL,QAAQ;AAAA,QACN,QAAQ;AAAA,QACR,cAAc;AAAA,QACd,MAAM;AAAA,QACN,UAAU;AAAA,QACV,sCAAsC;AAAA,UACpC,cAAc;AAAA,QAAA;AAAA,QAGhB,qCAAqC;AAAA,UACnC,cAAc;AAAA,QAAA;AAAA,MAChB;AAAA,IACF;AAAA,EAEJ;AAAA,CAAE;"}

package/dist/components/jogging/JoggingVelocitySlider.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const o=require("react/jsx-runtime"),c=require("mobx-react-lite"),s=require("react-i18next"),l=require("../VelocitySlider.cjs"),y=c.observer(({store:i,useDegree:t})=>{const{t:e}=s.useTranslation();function a(n,r){return r?`ω = ${e("Jogging.Cartesian.Rotation.velocityDegPerSec.lb",{amount:n})}`:`v = ${e("Jogging.Cartesian.Translation.velocityMmPerSec.lb",{amount:n})}`}return o.jsx(l.VelocitySlider,{store:i,velocity:i.velocityInDisplayUnits(t),min:i.minVelocityInDisplayUnits(t),max:i.maxVelocityInDisplayUnits(t),onVelocityChange:i.setVelocityFromSlider,useDegree:t,disabled:i.isLocked,renderValue:n=>o.jsx(l.VelocitySliderLabel,{value:a(n,t),sx:{minWidth:"111px",span:{transform:"translateY(-1.5px)"}}})})});exports.JoggingVelocitySlider=y;
+//# sourceMappingURL=JoggingVelocitySlider.cjs.map

package/dist/components/jogging/JoggingVelocitySlider.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"JoggingVelocitySlider.cjs","sources":["../../../src/components/jogging/JoggingVelocitySlider.tsx"],"sourcesContent":["import { observer } from \"mobx-react-lite\"\nimport { useTranslation } from \"react-i18next\"\nimport { VelocitySlider, VelocitySliderLabel } from \"../VelocitySlider\"\nimport type { JoggingStore } from \"./JoggingStore\"\n\nexport const JoggingVelocitySlider = observer(\n  ({ store, useDegree }: { store: JoggingStore; useDegree: boolean }) => {\n    const { t } = useTranslation()\n\n    function valueLabelFormat(value: number, useDegree: boolean): string {\n      return useDegree\n        ? `ω = ${t(\"Jogging.Cartesian.Rotation.velocityDegPerSec.lb\", { amount: value })}`\n        : `v = ${t(\"Jogging.Cartesian.Translation.velocityMmPerSec.lb\", { amount: value })}`\n    }\n\n    return (\n      <VelocitySlider\n        store={store}\n        velocity={store.velocityInDisplayUnits(useDegree)}\n        min={store.minVelocityInDisplayUnits(useDegree)}\n        max={store.maxVelocityInDisplayUnits(useDegree)}\n        onVelocityChange={store.setVelocityFromSlider}\n        useDegree={useDegree}\n        disabled={store.isLocked}\n        renderValue={(value) => (\n          <VelocitySliderLabel\n            value={valueLabelFormat(value, useDegree)}\n            sx={{\n              minWidth: \"111px\",\n              span: {\n                transform: \"translateY(-1.5px)\",\n              },\n            }}\n          />\n        )}\n      />\n    )\n  },\n)\n"],"names":["JoggingVelocitySlider","observer","store","useDegree","t","useTranslation","valueLabelFormat","value","jsx","VelocitySlider","VelocitySliderLabel"],"mappings":"gNAKaA,EAAwBC,EAAAA,SACnC,CAAC,CAAE,MAAAC,EAAO,UAAAC,KAA6D,CACrE,KAAM,CAAE,EAAAC,CAAA,EAAMC,iBAAA,EAEd,SAASC,EAAiBC,EAAeJ,EAA4B,CACnE,OAAOA,EACH,OAAOC,EAAE,kDAAmD,CAAE,OAAQG,CAAA,CAAO,CAAC,GAC9E,OAAOH,EAAE,oDAAqD,CAAE,OAAQG,CAAA,CAAO,CAAC,EACtF,CAEA,OACEC,EAAAA,IAACC,EAAAA,eAAA,CACC,MAAAP,EACA,SAAUA,EAAM,uBAAuBC,CAAS,EAChD,IAAKD,EAAM,0BAA0BC,CAAS,EAC9C,IAAKD,EAAM,0BAA0BC,CAAS,EAC9C,iBAAkBD,EAAM,sBACxB,UAAAC,EACA,SAAUD,EAAM,SAChB,YAAcK,GACZC,EAAAA,IAACE,EAAAA,oBAAA,CACC,MAAOJ,EAAiBC,EAAOJ,CAAS,EACxC,GAAI,CACF,SAAU,QACV,KAAM,CACJ,UAAW,oBAAA,CACb,CACF,CAAA,CACF,CAAA,CAIR,CACF"}

package/dist/components/jogging/JoggingVelocitySlider.js

@@ -0,0 +1,40 @@
+import { jsx as l } from "react/jsx-runtime";
+import { observer as m } from "mobx-react-lite";
+import { useTranslation as e } from "react-i18next";
+import { VelocitySlider as c, VelocitySliderLabel as y } from "../VelocitySlider.js";
+const g = m(
+  ({ store: i, useDegree: t }) => {
+    const { t: o } = e();
+    function a(n, r) {
+      return r ? `ω = ${o("Jogging.Cartesian.Rotation.velocityDegPerSec.lb", { amount: n })}` : `v = ${o("Jogging.Cartesian.Translation.velocityMmPerSec.lb", { amount: n })}`;
+    }
+    return /* @__PURE__ */ l(
+      c,
+      {
+        store: i,
+        velocity: i.velocityInDisplayUnits(t),
+        min: i.minVelocityInDisplayUnits(t),
+        max: i.maxVelocityInDisplayUnits(t),
+        onVelocityChange: i.setVelocityFromSlider,
+        useDegree: t,
+        disabled: i.isLocked,
+        renderValue: (n) => /* @__PURE__ */ l(
+          y,
+          {
+            value: a(n, t),
+            sx: {
+              minWidth: "111px",
+              span: {
+                transform: "translateY(-1.5px)"
+              }
+            }
+          }
+        )
+      }
+    );
+  }
+);
+export {
+  g as JoggingVelocitySlider
+};
+//# sourceMappingURL=JoggingVelocitySlider.js.map

package/dist/components/jogging/JoggingVelocitySlider.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"JoggingVelocitySlider.js","sources":["../../../src/components/jogging/JoggingVelocitySlider.tsx"],"sourcesContent":["import { observer } from \"mobx-react-lite\"\nimport { useTranslation } from \"react-i18next\"\nimport { VelocitySlider, VelocitySliderLabel } from \"../VelocitySlider\"\nimport type { JoggingStore } from \"./JoggingStore\"\n\nexport const JoggingVelocitySlider = observer(\n  ({ store, useDegree }: { store: JoggingStore; useDegree: boolean }) => {\n    const { t } = useTranslation()\n\n    function valueLabelFormat(value: number, useDegree: boolean): string {\n      return useDegree\n        ? `ω = ${t(\"Jogging.Cartesian.Rotation.velocityDegPerSec.lb\", { amount: value })}`\n        : `v = ${t(\"Jogging.Cartesian.Translation.velocityMmPerSec.lb\", { amount: value })}`\n    }\n\n    return (\n      <VelocitySlider\n        store={store}\n        velocity={store.velocityInDisplayUnits(useDegree)}\n        min={store.minVelocityInDisplayUnits(useDegree)}\n        max={store.maxVelocityInDisplayUnits(useDegree)}\n        onVelocityChange={store.setVelocityFromSlider}\n        useDegree={useDegree}\n        disabled={store.isLocked}\n        renderValue={(value) => (\n          <VelocitySliderLabel\n            value={valueLabelFormat(value, useDegree)}\n            sx={{\n              minWidth: \"111px\",\n              span: {\n                transform: \"translateY(-1.5px)\",\n              },\n            }}\n          />\n        )}\n      />\n    )\n  },\n)\n"],"names":["JoggingVelocitySlider","observer","store","useDegree","t","useTranslation","valueLabelFormat","value","jsx","VelocitySlider","VelocitySliderLabel"],"mappings":";;;;AAKO,MAAMA,IAAwBC;AAAA,EACnC,CAAC,EAAE,OAAAC,GAAO,WAAAC,QAA6D;AACrE,UAAM,EAAE,GAAAC,EAAA,IAAMC,EAAA;AAEd,aAASC,EAAiBC,GAAeJ,GAA4B;AACnE,aAAOA,IACH,OAAOC,EAAE,mDAAmD,EAAE,QAAQG,EAAA,CAAO,CAAC,KAC9E,OAAOH,EAAE,qDAAqD,EAAE,QAAQG,EAAA,CAAO,CAAC;AAAA,IACtF;AAEA,WACE,gBAAAC;AAAA,MAACC;AAAA,MAAA;AAAA,QACC,OAAAP;AAAA,QACA,UAAUA,EAAM,uBAAuBC,CAAS;AAAA,QAChD,KAAKD,EAAM,0BAA0BC,CAAS;AAAA,QAC9C,KAAKD,EAAM,0BAA0BC,CAAS;AAAA,QAC9C,kBAAkBD,EAAM;AAAA,QACxB,WAAAC;AAAA,QACA,UAAUD,EAAM;AAAA,QAChB,aAAa,CAACK,MACZ,gBAAAC;AAAA,UAACE;AAAA,UAAA;AAAA,YACC,OAAOJ,EAAiBC,GAAOJ,CAAS;AAAA,YACxC,IAAI;AAAA,cACF,UAAU;AAAA,cACV,MAAM;AAAA,gBACJ,WAAW;AAAA,cAAA;AAAA,YACb;AAAA,UACF;AAAA,QAAA;AAAA,MACF;AAAA,IAAA;AAAA,EAIR;AACF;"}

package/dist/components/jogging/PoseCartesianValues.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const t=require("react/jsx-runtime"),l=require("@mui/material/Button"),c=require("@mui/material/Stack"),u=require("@wandelbots/nova-js/v2"),d=require("mobx-react-lite"),p=require("react"),x=require("../../externalizeComponent.cjs"),C=require("../CopyableText.cjs"),n=x.externalizeComponent(d.observer(({tcpPose:r,showCopyButton:i=!1})=>{const[o,e]=p.useState(null),s=u.poseToWandelscriptString(r),a=async()=>{try{await navigator.clipboard.writeText(s),e("Copied!"),setTimeout(()=>e(null),2e3)}catch{e("Copy failed"),setTimeout(()=>e(null),2e3)}};return t.jsxs(c,{direction:"row",alignItems:"center",spacing:1,sx:{flexGrow:1,minWidth:0,overflow:"hidden"},"data-testid":"pose-cartesian-values",children:[t.jsx(C.CopyableText,{value:s}),i&&t.jsx(l,{variant:"contained",color:"secondary",size:"small",onClick:a,sx:{flexShrink:0},children:o||"Copy"})]})}));exports.PoseCartesianValues=n;exports.default=n;
+//# sourceMappingURL=PoseCartesianValues.cjs.map

package/dist/components/jogging/PoseCartesianValues.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"PoseCartesianValues.cjs","sources":["../../../src/components/jogging/PoseCartesianValues.tsx"],"sourcesContent":["import Button from \"@mui/material/Button\"\nimport Stack from \"@mui/material/Stack\"\nimport { poseToWandelscriptString, type Pose } from \"@wandelbots/nova-js/v2\"\nimport { observer } from \"mobx-react-lite\"\nimport { useState } from \"react\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport { CopyableText } from \"../CopyableText\"\n\nexport type PoseCartesianValuesProps = {\n  tcpPose: Pose\n  showCopyButton?: boolean\n}\n\nexport const PoseCartesianValues = externalizeComponent(\n  observer(({ tcpPose, showCopyButton = false }: PoseCartesianValuesProps) => {\n    const [copyMessage, setCopyMessage] = useState<string | null>(null)\n    const poseString = poseToWandelscriptString(tcpPose)\n\n    const handleCopy = async () => {\n      try {\n        await navigator.clipboard.writeText(poseString)\n        setCopyMessage(\"Copied!\")\n        setTimeout(() => setCopyMessage(null), 2000)\n      } catch {\n        setCopyMessage(\"Copy failed\")\n        setTimeout(() => setCopyMessage(null), 2000)\n      }\n    }\n\n    return (\n      <Stack\n        direction=\"row\"\n        alignItems=\"center\"\n        spacing={1}\n        sx={{ flexGrow: 1, minWidth: 0, overflow: \"hidden\" }}\n        data-testid=\"pose-cartesian-values\"\n      >\n        <CopyableText value={poseString} />\n        {showCopyButton && (\n          <Button\n            variant=\"contained\"\n            color=\"secondary\"\n            size=\"small\"\n            onClick={handleCopy}\n            sx={{ flexShrink: 0 }}\n          >\n            {copyMessage ? copyMessage : \"Copy\"}\n          </Button>\n        )}\n      </Stack>\n    )\n  }),\n)\n\nexport default PoseCartesianValues\n"],"names":["PoseCartesianValues","externalizeComponent","observer","tcpPose","showCopyButton","copyMessage","setCopyMessage","useState","poseString","poseToWandelscriptString","handleCopy","jsxs","Stack","jsx","CopyableText","Button"],"mappings":"qXAaaA,EAAsBC,EAAAA,qBACjCC,EAAAA,SAAS,CAAC,CAAE,QAAAC,EAAS,eAAAC,EAAiB,MAAsC,CAC1E,KAAM,CAACC,EAAaC,CAAc,EAAIC,EAAAA,SAAwB,IAAI,EAC5DC,EAAaC,EAAAA,yBAAyBN,CAAO,EAE7CO,EAAa,SAAY,CAC7B,GAAI,CACF,MAAM,UAAU,UAAU,UAAUF,CAAU,EAC9CF,EAAe,SAAS,EACxB,WAAW,IAAMA,EAAe,IAAI,EAAG,GAAI,CAC7C,MAAQ,CACNA,EAAe,aAAa,EAC5B,WAAW,IAAMA,EAAe,IAAI,EAAG,GAAI,CAC7C,CACF,EAEA,OACEK,EAAAA,KAACC,EAAA,CACC,UAAU,MACV,WAAW,SACX,QAAS,EACT,GAAI,CAAE,SAAU,EAAG,SAAU,EAAG,SAAU,QAAA,EAC1C,cAAY,wBAEZ,SAAA,CAAAC,EAAAA,IAACC,EAAAA,aAAA,CAAa,MAAON,CAAA,CAAY,EAChCJ,GACCS,EAAAA,IAACE,EAAA,CACC,QAAQ,YACR,MAAM,YACN,KAAK,QACL,QAASL,EACT,GAAI,CAAE,WAAY,CAAA,EAEjB,YAA4B,MAAA,CAAA,CAC/B,CAAA,CAAA,CAIR,CAAC,CACH"}

package/dist/components/jogging/PoseCartesianValues.d.ts

@@ -6,4 +6,5 @@ export type PoseCartesianValuesProps = {
 export declare const PoseCartesianValues: (({ tcpPose, showCopyButton }: PoseCartesianValuesProps) => import("react/jsx-runtime").JSX.Element) & {
     displayName: string;
 };
+export default PoseCartesianValues;
 //# sourceMappingURL=PoseCartesianValues.d.ts.map

package/dist/components/jogging/PoseCartesianValues.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"PoseCartesianValues.d.ts","sourceRoot":"","sources":["../../../src/components/jogging/PoseCartesianValues.tsx"],"names":[],"mappings":"AAEA,OAAO,EAA4B,KAAK,IAAI,EAAE,MAAM,wBAAwB,CAAA;AAM5E,MAAM,MAAM,wBAAwB,GAAG;IACrC,OAAO,EAAE,IAAI,CAAA;IACb,cAAc,CAAC,EAAE,OAAO,CAAA;CACzB,CAAA;AAED,eAAO,MAAM,mBAAmB,iCACiB,wBAAwB;;CAsCxE,CAAA"}
+{"version":3,"file":"PoseCartesianValues.d.ts","sourceRoot":"","sources":["../../../src/components/jogging/PoseCartesianValues.tsx"],"names":[],"mappings":"AAEA,OAAO,EAA4B,KAAK,IAAI,EAAE,MAAM,wBAAwB,CAAA;AAM5E,MAAM,MAAM,wBAAwB,GAAG;IACrC,OAAO,EAAE,IAAI,CAAA;IACb,cAAc,CAAC,EAAE,OAAO,CAAA;CACzB,CAAA;AAED,eAAO,MAAM,mBAAmB,iCACiB,wBAAwB;;CAsCxE,CAAA;AAED,eAAe,mBAAmB,CAAA"}

package/dist/components/jogging/PoseCartesianValues.js

@@ -0,0 +1,48 @@
+import { jsxs as s, jsx as r } from "react/jsx-runtime";
+import n from "@mui/material/Button";
+import l from "@mui/material/Stack";
+import { poseToWandelscriptString as p } from "@wandelbots/nova-js/v2";
+import { observer as m } from "mobx-react-lite";
+import { useState as c } from "react";
+import { externalizeComponent as d } from "../../externalizeComponent.js";
+import { CopyableText as f } from "../CopyableText.js";
+const T = d(
+  m(({ tcpPose: i, showCopyButton: a = !1 }) => {
+    const [o, e] = c(null), t = p(i);
+    return /* @__PURE__ */ s(
+      l,
+      {
+        direction: "row",
+        alignItems: "center",
+        spacing: 1,
+        sx: { flexGrow: 1, minWidth: 0, overflow: "hidden" },
+        "data-testid": "pose-cartesian-values",
+        children: [
+          /* @__PURE__ */ r(f, { value: t }),
+          a && /* @__PURE__ */ r(
+            n,
+            {
+              variant: "contained",
+              color: "secondary",
+              size: "small",
+              onClick: async () => {
+                try {
+                  await navigator.clipboard.writeText(t), e("Copied!"), setTimeout(() => e(null), 2e3);
+                } catch {
+                  e("Copy failed"), setTimeout(() => e(null), 2e3);
+                }
+              },
+              sx: { flexShrink: 0 },
+              children: o || "Copy"
+            }
+          )
+        ]
+      }
+    );
+  })
+);
+export {
+  T as PoseCartesianValues,
+  T as default
+};
+//# sourceMappingURL=PoseCartesianValues.js.map

package/dist/components/jogging/PoseCartesianValues.js.map

@@ -0,0 +1 @@
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package/dist/components/jogging/PoseJointValues.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const t=require("react/jsx-runtime"),c=require("@mui/material/Button"),u=require("@mui/material/Stack"),d=require("mobx-react-lite"),p=require("react"),x=require("../../externalizeComponent.cjs"),m=require("../CopyableText.cjs"),s=x.externalizeComponent(d.observer(({joints:i,showCopyButton:r=!1})=>{const[o,e]=p.useState(null),n=`[${i.map(l=>parseFloat(l.toFixed(4))).join(", ")}]`,a=async()=>{try{await navigator.clipboard.writeText(n),e("Copied!"),setTimeout(()=>e(null),2e3)}catch{e("Copy failed"),setTimeout(()=>e(null),2e3)}};return t.jsxs(u,{direction:"row",alignItems:"center",spacing:1,sx:{flexGrow:1,minWidth:0,overflow:"hidden"},"data-testid":"pose-joint-values",children:[t.jsx(m.CopyableText,{value:n}),r&&t.jsx(c,{variant:"contained",color:"secondary",size:"small",onClick:a,sx:{flexShrink:0},children:o||"Copy"})]})}));exports.PoseJointValues=s;exports.default=s;
+//# sourceMappingURL=PoseJointValues.cjs.map

package/dist/components/jogging/PoseJointValues.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"PoseJointValues.cjs","sources":["../../../src/components/jogging/PoseJointValues.tsx"],"sourcesContent":["import Button from \"@mui/material/Button\"\nimport Stack from \"@mui/material/Stack\"\nimport { observer } from \"mobx-react-lite\"\nimport { useState } from \"react\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport { CopyableText } from \"../CopyableText\"\n\nexport type PoseJointValuesProps = {\n  joints: Array<number>\n  showCopyButton?: boolean\n}\n\nexport const PoseJointValues = externalizeComponent(\n  observer(({ joints, showCopyButton = false }: PoseJointValuesProps) => {\n    const [copyMessage, setCopyMessage] = useState<string | null>(null)\n    const poseString = `[${joints.map((j: number) => parseFloat(j.toFixed(4))).join(\", \")}]`\n\n    const handleCopy = async () => {\n      try {\n        await navigator.clipboard.writeText(poseString)\n        setCopyMessage(\"Copied!\")\n        setTimeout(() => setCopyMessage(null), 2000)\n      } catch {\n        setCopyMessage(\"Copy failed\")\n        setTimeout(() => setCopyMessage(null), 2000)\n      }\n    }\n\n    return (\n      <Stack\n        direction=\"row\"\n        alignItems=\"center\"\n        spacing={1}\n        sx={{ flexGrow: 1, minWidth: 0, overflow: \"hidden\" }}\n        data-testid=\"pose-joint-values\"\n      >\n        <CopyableText value={poseString} />\n        {showCopyButton && (\n          <Button\n            variant=\"contained\"\n            color=\"secondary\"\n            size=\"small\"\n            onClick={handleCopy}\n            sx={{ flexShrink: 0 }}\n          >\n            {copyMessage ? copyMessage : \"Copy\"}\n          </Button>\n        )}\n      </Stack>\n    )\n  }),\n)\n\nexport default PoseJointValues\n"],"names":["PoseJointValues","externalizeComponent","observer","joints","showCopyButton","copyMessage","setCopyMessage","useState","poseString","j","handleCopy","jsxs","Stack","jsx","CopyableText","Button"],"mappings":"iVAYaA,EAAkBC,EAAAA,qBAC7BC,EAAAA,SAAS,CAAC,CAAE,OAAAC,EAAQ,eAAAC,EAAiB,MAAkC,CACrE,KAAM,CAACC,EAAaC,CAAc,EAAIC,EAAAA,SAAwB,IAAI,EAC5DC,EAAa,IAAIL,EAAO,IAAKM,GAAc,WAAWA,EAAE,QAAQ,CAAC,CAAC,CAAC,EAAE,KAAK,IAAI,CAAC,IAE/EC,EAAa,SAAY,CAC7B,GAAI,CACF,MAAM,UAAU,UAAU,UAAUF,CAAU,EAC9CF,EAAe,SAAS,EACxB,WAAW,IAAMA,EAAe,IAAI,EAAG,GAAI,CAC7C,MAAQ,CACNA,EAAe,aAAa,EAC5B,WAAW,IAAMA,EAAe,IAAI,EAAG,GAAI,CAC7C,CACF,EAEA,OACEK,EAAAA,KAACC,EAAA,CACC,UAAU,MACV,WAAW,SACX,QAAS,EACT,GAAI,CAAE,SAAU,EAAG,SAAU,EAAG,SAAU,QAAA,EAC1C,cAAY,oBAEZ,SAAA,CAAAC,EAAAA,IAACC,EAAAA,aAAA,CAAa,MAAON,CAAA,CAAY,EAChCJ,GACCS,EAAAA,IAACE,EAAA,CACC,QAAQ,YACR,MAAM,YACN,KAAK,QACL,QAASL,EACT,GAAI,CAAE,WAAY,CAAA,EAEjB,YAA4B,MAAA,CAAA,CAC/B,CAAA,CAAA,CAIR,CAAC,CACH"}

package/dist/components/jogging/PoseJointValues.d.ts

@@ -5,4 +5,5 @@ export type PoseJointValuesProps = {
 export declare const PoseJointValues: (({ joints, showCopyButton }: PoseJointValuesProps) => import("react/jsx-runtime").JSX.Element) & {
     displayName: string;
 };
+export default PoseJointValues;
 //# sourceMappingURL=PoseJointValues.d.ts.map

package/dist/components/jogging/PoseJointValues.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"PoseJointValues.d.ts","sourceRoot":"","sources":["../../../src/components/jogging/PoseJointValues.tsx"],"names":[],"mappings":"AAOA,MAAM,MAAM,oBAAoB,GAAG;IACjC,MAAM,EAAE,KAAK,CAAC,MAAM,CAAC,CAAA;IACrB,cAAc,CAAC,EAAE,OAAO,CAAA;CACzB,CAAA;AAED,eAAO,MAAM,eAAe,gCACoB,oBAAoB;;CAsCnE,CAAA;AAED,eAAe,eAAe,CAAA"}